US20100147053A1 - Breakaway tooling apparatus - Google Patents
Breakaway tooling apparatus Download PDFInfo
- Publication number
- US20100147053A1 US20100147053A1 US12/620,706 US62070609A US2010147053A1 US 20100147053 A1 US20100147053 A1 US 20100147053A1 US 62070609 A US62070609 A US 62070609A US 2010147053 A1 US2010147053 A1 US 2010147053A1
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- United States
- Prior art keywords
- detection mount
- air
- mount
- detection
- air passageway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/063—Safety devices working only upon contact with an outside object
Definitions
- the present invention relates to industrial tooling, and in particular, an industrial breakaway tooling apparatus that is designed to break in a predetermined region and indicate whether the breakaway tooling apparatus has broken so as to prevent any further damage of the industrial tooling and any associated manipulator thereof.
- the robotic system and/or its tooling may encounter unexpected obstacles in a manufacturing environment. If the robotic system and/or the modular tooling impacts the obstacle with sufficient force, or if the robotic system continues to move once the modular tooling has come into contact with the obstacle, the robotic system and/or the modular tooling may become damaged. Further damage may occur if the robotic system is not stopped after the initial damage occurs.
- the present invention provides a breakaway tooling apparatus connectable to a manipulator and at least one tool for limiting the amount of damage to the associated manipulator and tool when the manipulator and/or tool accidentally engage an obstacle.
- the breakaway tooling apparatus of the present invention provides a detection mount connectable to the manipulator and the tool wherein the detection mount has a weakened portion for allowing the detection mount to fracture at said weakened portion upon the realization of a predetermined force to the detection mount.
- the detection mount has an air passageway having at least a portion thereof in close proximity to the weakened portion of the detection mount.
- the air passageway is in communication with a pressurized air source such that the pressurized air is prohibited from passing through the air passageway when the detection mount is not fractured at the weakened portion, and wherein the pressurized air is allowed to pass through the air passageway when the detection mount is fractured at the weakened portion.
- a pressure sensor is in communication with the pressurized air for determining whether the pressurized air in the air passageway is below a predetermined level of air pressure, thereby indicating whether the detection mount is fractured at the weakened portion.
- the air passageway in the detection mount may extend from a first end, wherein the first end is in communication with the pressurized air supply, to a second end, which opens to an inner surface of the detection mount.
- a blocking member engages the second end of the air passageway to prevent the pressurized air from passing through the second end of the air passageway when the detection mount is not fractured at the weakened portion.
- the blocking member allows pressurized air to pass through the second end of the air passageway when the detection mount is fractured at the weakened portion.
- the blocking member may be fabricated from a substantially cylindrical ring connected to the detection mount. In the alternative, the blocking member may be fabricated from at least a portion of the tool connected to the detection mount.
- a flexible seal may be disposed between the second end of the air passageway and the blocking member for providing a sealed engagement between the second end of the air passageway and the blocking member when the detection mount is not fractured at the weakened portion.
- the air passageway and the detection mount may extend from a first end to a second end, wherein the first end is in communication with the pressurized air source.
- the second end of the air passageway may have a closed end within the detection mount adjacent to the weakened portion of the detection mount, wherein pressurized air cannot pass through the second end of the air passageway when the detection mount is not fractured at the weakened portion, and wherein the pressurized air may pass through the second end of the air passageway when the detection mount is fractured at the weakened portion, thereby opening the second end of the air passageway.
- the detection mount may have a stepped throughbore adapted to receive the tool, and the inner diameter of the stepped throughbore may be adjacent to the weakened portion of the detection mount.
- the weakened portion of the detection mount may be fabricated by a narrowing neck region of the detection mount such that the detection mount will fracture at the narrowing neck portion upon the realization of the predetermined force applied to the detection mount.
- An air pressure regulator in communication with the supply of pressurized air may be utilized for regulating and monitoring the level of pressurized air to the air passageway in the detection mount.
- FIG. 1 is an isometric view of the breakaway tooling apparatus of the present invention
- FIG. 2 is an exploded view of the detection mount of the breakaway tooling apparatus of the present invention
- FIG. 3 is an enlarged sectional view of the passageway in the direction of arrows A-A in FIG. 5 of the breakaway tooling apparatus of the present invention
- FIG. 4 is a sectional view of the detection mount in the direction of arrows A-A in FIG. 5 of the breakaway tooling apparatus of the present invention
- FIG. 5 is a plan top view of the detection mount of the breakaway tooling apparatus of the present invention.
- FIG. 6 is a plan front view of the detection mount of the breakaway tooling apparatus of the present invention.
- FIG. 7 is a plan front view of the blocking member of the breakaway tooling apparatus of the present invention.
- FIG. 8 is a plan right side view of the blocking member of the breakaway tooling apparatus of the present invention.
- FIG. 9 is an isometric view of the blocking member of the breakaway tooling apparatus of the present invention.
- FIG. 10 is an isometric view of the air pressure system of the breakaway tooling apparatus of the present invention.
- FIG. 11 is a circuit diagram of the air pressure system of the breakaway tooling apparatus of the present invention.
- FIG. 12 is a plan top view of the air pressure system of the breakaway tooling apparatus of the present invention.
- FIG. 13 is a sectional view of the air pressure system of the breakaway tooling apparatus of the present invention.
- FIG. 14 is a sectional view of a second embodiment of the detection mount in the direction of arrows A-A in FIG. 5 of the breakaway tooling apparatus of the present invention.
- FIG. 15 is a sectional view of a third embodiment of the detection mount in the direction of arrows A-A in FIG. 5 of the breakaway tooling apparatus of the present invention.
- the present invention provides a breakaway tooling apparatus 10 for allowing and indicating the fracturing of a detection mount 12 upon an unexpected force being applied to the detection mount 12 , wherein the force is created by the breakaway tooling apparatus 10 unexpectedly engaging an obstacle (not shown).
- the breakaway tooling apparatus 10 may be mounted to a master boom rod 14 of a manipulator (not shown), such as a conventional robotic system or robotic arm.
- a mounting plate 16 may be connected to the master boom rod 14 through the use of conventional fasteners (not shown) to assist in securing the breakaway tooling apparatus 10 to the master boom rod 14 , and/or the mounting plate 16 may be used to connect the master boom rod 14 to the manipulator through the use of conventional fasteners (not shown).
- a bracket 18 may also be utilized to connect the breakaway tooling apparatus 10 to the master boom rod 14 through the use of conventional fasteners (not shown).
- the manipulator may move the master boom rod 14 and the breakaway tooling apparatus 10 to engage a workpiece (not shown).
- the breakaway tooling apparatus 10 has at least one detection mount 12 that is mounted to the bracket 18 ; however, in FIG. 1 , two similar detection mounts 12 are shown connected to the bracket 18 .
- Each of the detection mounts 12 have a modular tooling assembly 20 connected thereto.
- the modular tooling assemblies 20 may provide a lock ring 22 for connecting a boom rod 24 to the detection mount 12 and a tooling mount 26 connected to the boom rod 24 for locating and securing a conventional tool (not shown) to the tooling mount 26 .
- the tool may comprise a clamp, a gripper, a locator, a weld gun, a vacuum cup, etc.
- An air pressure system 27 is mounted to a mounting plate 29 which is connected to the bracket 18 through the use of conventional fasteners 31 .
- Air lines or hoses 30 extend from the air pressure system 27 to each of the detection mounts 12 .
- the air pressure system 27 may provide an indication that the detection mount 12 is intact.
- the air pressure system 27 may provide an indication that the detection mount 12 is fractured.
- the air pressure system 27 sends a signal to a control apparatus (not shown) of the manipulator to shut off and stop the manipulator from any further movement.
- the detection mount 12 provides a substantially square mounting region 32 integrally connected to a substantially cylindrical boom rod mounting region 34 , as seen in FIGS. 1-6 .
- the substantially square mounting region 32 provides apertures 36 in each of the corners of the substantially square mounting region 32 that correspondingly align with apertures in the bracket 18 .
- Each of the apertures 36 in the substantially square mounting region 32 receives a conventional fastener 38 that extends into each aperture in the bracket 18 for connecting the detection mount 12 thereto.
- the cylindrical mounting region 34 of the detection mount 12 also provides four threaded apertures 40 for receiving conventional fasteners 42 that connect the lock ring 22 to the detection mount 12 .
- a stepped throughbore 44 extends through the substantially square mounting region 32 and the substantially cylindrical mounting region 34 of the detection mount 12 along a longitudinal axis 46 of the detection mount 12 .
- the stepped throughbore 44 has a first diameter 48 , which extends through the substantially square mounting region 32 of the detection mount 12 , and a second diameter 50 , which is larger than the first diameter 48 and extends through the substantially cylindrical mounting region 34 of the detection mount 12 .
- a shoulder 52 is formed within the stepped throughbore 44 at the point in which the first diameter 48 and the second diameter 50 meet. The shoulder 52 is substantially perpendicular to the longitudinal axis 46 of the detection mount 12 .
- a narrowing neck region 54 is provided in the detection mount 12 in the area in which the substantially square mounting region 32 and the substantially cylindrical mounting region 34 of the detection mount 12 meet.
- the narrowing neck region 54 corresponds in alignment with the shoulder 52 of the stepped throughbore 44 of the detection mount 12 . This corresponding alignment of the narrowing neck region 54 and the shoulder 52 creates a thinning of material in the detection mount 12 extending between the deepest point of the narrowing neck region 54 and the shoulder 52 .
- This narrowing or thinning portion of material in the detection mount 12 provides a weakened area of the detection mount 12 such that the detection mount 12 will break or yield upon realizing a sufficient amount of force at or above a predetermined level in a direction that is substantially perpendicular to the longitudinal axis 46 of the detection mount 12 .
- the narrowing neck region 54 of the detection mount 12 increases the likelihood that the detection mount 12 will fracture prior to any damage to the modular tooling 12 or the manipulator.
- the detection mount 12 is fabricated from a predetermined material having a predetermined strength.
- the detection mount 12 may be fabricated from a lightweight, high-strength material, such as aluminum.
- an air passageway 56 extends from an outer surface of the substantially square mounting region 32 of the detection mount 12 to the internal shoulder 52 of the detection mount 12 .
- An air hose fitting 58 is connected to the inlet of the air passageway 56 in the outer surface of the substantially square mounting region 32 of the detection mount 12 .
- the air hose fitting 58 allows for the connection of the air hose 30 , as will be discussed in detail later in the specification.
- An inlet of the air passageway 56 leads into the internal shoulder 52 of the detection mount 12 , and a recess 62 is provided in the inlet for receiving a flexible O-ring 64 .
- a blocking member 66 is seated on the shoulder 52 of the detection mount 12 , and in this embodiment, the blocking member 66 is fabricated from a ring having a substantially flat surface 67 abutting the shoulder 52 so that the blocking member 66 forms a seal with the O-ring 64 , as seen in FIGS. 3-5 and 7 - 9 .
- the flat surface 67 of the blocking member 66 has a chamfered edge 69 to complementarily engage the transition between the shoulder 52 and the second diameter 50 of the detection mount 12 .
- the blocking member 66 has an outside diameter that is substantially the same size as the second diameter 50 of the throughbore 44 of the detection mount 12 and an inner diameter that is substantially the same size as the first diameter 48 of the throughbore 44 of the detection mount 12 .
- the blocking member 66 may be press fit in the second diameter 50 of the throughbore 44 of the detection mount 12 to properly seat the blocking member 66 in the detection mount 12 .
- the blocking member 66 may be fabricated from a high strength, light weight material, such as a metal or plastic.
- the boom rod 24 is positioned in the second diameter 50 of the detection mount 12 through the use of the lock ring 22 .
- a fastener 73 extends substantially perpendicular to the longitudinal axis 46 of the detection mount 12 through apertures in the lock ring 22 and a corresponding aperture (not shown) in the boom rod 24 to secure the boom rod 24 in the detection mount 12 .
- the lock ring 22 is connected to the detection mount 12 .
- the air pressure system 27 of the breakaway tooling apparatus 10 provides an air pressure regulator 68 connected to an air manifold block 74 which is mounted to the mounting plate 29 , as seen in FIGS. 1 , 10 , and 12 - 13 .
- the pressure regulator 68 provides an air inlet 70 for receiving a supply of pressurized air, and the pressure regulator 68 regulates the supply of pressurized air to a plurality of air outlets having air hose fittings 72 mounted therein in the air manifold block 74 .
- the pressure regulator 68 ensures that the air being provided to the air hose fittings 72 in the air manifold block 74 is maintained at a predetermined pressure level.
- the pressure regulator 68 provides relatively low air pressure to the air manifold block 74 and consequently to the air passageway 56 in the detection mount 12 .
- the air hoses 30 are connected from the air hose fittings 72 in the air manifold block 74 to the air hose fittings 58 provided on the detection mounts 12 of the breakaway tooling apparatus 10 .
- a pressure indicator or switch 28 is connected to the air manifold block 74 for monitoring the air pressure within the air manifold block 74 .
- the pressure indicator 28 may provide a green indicator light 76 that illuminates to indicate that the system has power and is operational.
- the pressure indicator 28 may also provide a red indicator light 78 to indicate that the pressure within the air manifold block 74 is at or above a predetermined pressure. If the pressure within the air manifold block 74 falls below a predetermined pressure level, then the red indicator light 78 is not illuminated.
- an electronic signal is provided from the pressure indicator 28 to a control apparatus (not shown), such as a programmable controller, of the manipulator indicating to the control apparatus that the detection mount 12 is fractured.
- a control apparatus such as a programmable controller
- the green indicator light 76 and the red indicator light 78 are not provided, and thus, the signal from the pressure indicator or switch 28 is provided directly to the control apparatus.
- An electric cable 81 may be connected from the pressure indicator 28 to the control apparatus for communicating the electronic signal.
- FIG. 11 shows a circuit diagram 80 for the air pressure system 27 of the breakaway tooling apparatus 10 .
- the circuit diagram 80 shows the flow of pressurized air from the supply of pressurized air into the pressure regulator 68 wherein the pressure regulator 68 monitors the flow of pressurized air through a restriction orifice 82 .
- the regulated air then flows into the air manifold block 74 , wherein the air is supplied to a plurality of outlets or air hose fittings 72 .
- the pressure indicator or switch 28 is maintained in an on position.
- the detection mount 12 may have the same configuration as previously described. However, the embodiment shown in FIG. 14 does not provide the ring as the blocking member 66 . Rather, the end of the boom rod 24 acts as the blocking member 66 by sealing against the flexible O-ring 64 . Thus, pressurized air in the air passageway 56 is blocked from passing through the air passageway 56 by the end of the boom rod 24 until the detection mount 12 fractures at the narrowed neck region 54 . Once the detection mount 12 fractures at the neck region 54 , the seal between the O-ring 64 and the end of the boom rod 24 is broken, and the pressurized air is allowed to pass through the air passageway 56 , thereby triggering the pressure indicator or switch 28 . The control apparatus then shuts down the manipulator.
- the detection mount 12 is similar to the first embodiment; however, the detection mount 12 of the third embodiment, as seen in FIG. 5 , provides an air passageway 90 that does not extend through the detection mount 12 . Rather, the air passageway 90 provides a blind hole 92 that ends within or adjacent to the neck region 54 of the detection mount 12 . Thus, the neck region 54 acts as the blocking member 66 to the air passageway 90 by blocking the hole 92 .
- the detection mount 12 fractures at the neck region 54 , the blind hole 92 of the air passageway 56 is exposed or opened, thereby allowing pressurized air to flow through the air passageway 90 and allowing the pressure indicator or switch 28 to be triggered. The control apparatus then shuts down the manipulator.
- the breakaway tooling apparatus 10 is mounted to the master boom rod 14 of the manipulator.
- the modular tooling 20 is appropriately mounted to the breakaway tooling apparatus 10 by having the boom rod 24 connected to the lock ring 22 which in turn is connected to the detection mount 12 .
- the air passageway 56 , 90 is blocked by blocking member 66 .
- the air hose 30 is connected to an air hose fitting 72 of the air manifold block 74 , and the opposite end of the air hose 30 is connected to the air hose fitting 58 on the detection mount 12 .
- a supply of pressurized air is provided to the pressure regulator 68 , and pressurized air is supplied to the air hose fittings 72 on the air manifold block 74 .
- Pressurized air is then provided to the air passageway 56 , 90 within the detection mount 12 , and a predetermined level of pressure is maintained in the air passageway 56 , 90 , as the blocking member 66 prevents pressurized air from exiting the air passageway 56 , 90 .
- the detection mount 12 of the breakaway tooling apparatus 10 receives a sufficient amount of force at an angle substantially perpendicular to the longitudinal axis 46 of the detection mount 12 , the detection mount 12 will fracture at the narrowing neck region 54 between the substantially square mounting region 32 and the substantially cylindrical mounting region 34 of the detection mount 12 .
- the substantially cylindrical mounting region 34 of the detection mount 12 and the modular tooling 20 connected to the substantially cylindrical mounting region 34 of the detection mount 12 will fall away from the substantially square mounting region 32 of the detection mount 12 .
- a safety strap may be incorporated connecting the substantially square mounting region 32 to the substantially cylindrical mounting region 34 on the detection mount 12 to ensure that the modular tooling 20 does not cause further damage when the detection mount 12 fractures.
- the blocking member 66 can no longer prohibit pressurized air from passing through the air passageway 56 .
- the level of pressurized air in the air manifold block 74 is then reduced below the predetermined level, and the pressure indicator 28 senses the drop in the level of pressure. Once the pressure drops below the predetermined level, a signal is sent from the pressure indicator 28 to the control apparatus to stop and shut down the manipulator.
- the fractured detection mount 12 may then be replaced with a new, non-fractured detection mount 12 , and the modular tooling 28 may be reassembled to the detection mount 12 .
- the hoses 30 are reconfigured to the new detection mount 12 , and pressurized air is again supplied to the new detection mount 12 .
- the breakaway tooling apparatus 10 is then ready to be used again by the manipulator.
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Abstract
Description
- The present application is a formalization of U.S. Provisional Patent Application Ser. No. 61/122,944, filed on Dec. 16, 2008.
- The present invention relates to industrial tooling, and in particular, an industrial breakaway tooling apparatus that is designed to break in a predetermined region and indicate whether the breakaway tooling apparatus has broken so as to prevent any further damage of the industrial tooling and any associated manipulator thereof.
- In today's industries, robotic equipment is being used for a wide variety of applications. Such applications may attach some form of tooling to a mechanical wrist or end of a robotic arm via a mounting face plate or some form of bracketry. Much of the tooling has become versatile, complex, and modular so that the tooling can be used for various applications and workpieces. Such modular tool designs tend to be more expensive than conventional designs, since a greater amount of engineering, design, and material costs are invested into the modular tooling. Thus, any damage to the modular tooling can be rather expensive and costly to the manufacturer.
- Occasionally, the robotic system and/or its tooling may encounter unexpected obstacles in a manufacturing environment. If the robotic system and/or the modular tooling impacts the obstacle with sufficient force, or if the robotic system continues to move once the modular tooling has come into contact with the obstacle, the robotic system and/or the modular tooling may become damaged. Further damage may occur if the robotic system is not stopped after the initial damage occurs.
- Thus, it would be desirable to provide a robotic system and/or modular tooling system that reduced the amount of damage to the modular tooling and/or the robotic system upon encountering unexpected obstacles by immediately stopping the robotic system upon damage to the modular tooling.
- The present invention provides a breakaway tooling apparatus connectable to a manipulator and at least one tool for limiting the amount of damage to the associated manipulator and tool when the manipulator and/or tool accidentally engage an obstacle. The breakaway tooling apparatus of the present invention provides a detection mount connectable to the manipulator and the tool wherein the detection mount has a weakened portion for allowing the detection mount to fracture at said weakened portion upon the realization of a predetermined force to the detection mount. The detection mount has an air passageway having at least a portion thereof in close proximity to the weakened portion of the detection mount. The air passageway is in communication with a pressurized air source such that the pressurized air is prohibited from passing through the air passageway when the detection mount is not fractured at the weakened portion, and wherein the pressurized air is allowed to pass through the air passageway when the detection mount is fractured at the weakened portion. A pressure sensor is in communication with the pressurized air for determining whether the pressurized air in the air passageway is below a predetermined level of air pressure, thereby indicating whether the detection mount is fractured at the weakened portion.
- In one embodiment, the air passageway in the detection mount may extend from a first end, wherein the first end is in communication with the pressurized air supply, to a second end, which opens to an inner surface of the detection mount. A blocking member engages the second end of the air passageway to prevent the pressurized air from passing through the second end of the air passageway when the detection mount is not fractured at the weakened portion. The blocking member allows pressurized air to pass through the second end of the air passageway when the detection mount is fractured at the weakened portion. The blocking member may be fabricated from a substantially cylindrical ring connected to the detection mount. In the alternative, the blocking member may be fabricated from at least a portion of the tool connected to the detection mount. A flexible seal may be disposed between the second end of the air passageway and the blocking member for providing a sealed engagement between the second end of the air passageway and the blocking member when the detection mount is not fractured at the weakened portion.
- In another embodiment, the air passageway and the detection mount may extend from a first end to a second end, wherein the first end is in communication with the pressurized air source. The second end of the air passageway may have a closed end within the detection mount adjacent to the weakened portion of the detection mount, wherein pressurized air cannot pass through the second end of the air passageway when the detection mount is not fractured at the weakened portion, and wherein the pressurized air may pass through the second end of the air passageway when the detection mount is fractured at the weakened portion, thereby opening the second end of the air passageway.
- The detection mount may have a stepped throughbore adapted to receive the tool, and the inner diameter of the stepped throughbore may be adjacent to the weakened portion of the detection mount. The weakened portion of the detection mount may be fabricated by a narrowing neck region of the detection mount such that the detection mount will fracture at the narrowing neck portion upon the realization of the predetermined force applied to the detection mount.
- An air pressure regulator in communication with the supply of pressurized air may be utilized for regulating and monitoring the level of pressurized air to the air passageway in the detection mount.
- Other objects, features, and advantages of the present invention will become apparent with reference to the following specification and to the drawings.
- The description herein makes reference to the accompanying drawings wherein the referenced numerals refer to like parts throughout several views and wherein:
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FIG. 1 is an isometric view of the breakaway tooling apparatus of the present invention; -
FIG. 2 is an exploded view of the detection mount of the breakaway tooling apparatus of the present invention; -
FIG. 3 is an enlarged sectional view of the passageway in the direction of arrows A-A inFIG. 5 of the breakaway tooling apparatus of the present invention; -
FIG. 4 is a sectional view of the detection mount in the direction of arrows A-A inFIG. 5 of the breakaway tooling apparatus of the present invention; -
FIG. 5 is a plan top view of the detection mount of the breakaway tooling apparatus of the present invention; -
FIG. 6 is a plan front view of the detection mount of the breakaway tooling apparatus of the present invention; -
FIG. 7 is a plan front view of the blocking member of the breakaway tooling apparatus of the present invention; -
FIG. 8 is a plan right side view of the blocking member of the breakaway tooling apparatus of the present invention; -
FIG. 9 is an isometric view of the blocking member of the breakaway tooling apparatus of the present invention; -
FIG. 10 is an isometric view of the air pressure system of the breakaway tooling apparatus of the present invention; -
FIG. 11 is a circuit diagram of the air pressure system of the breakaway tooling apparatus of the present invention; -
FIG. 12 is a plan top view of the air pressure system of the breakaway tooling apparatus of the present invention; -
FIG. 13 is a sectional view of the air pressure system of the breakaway tooling apparatus of the present invention; -
FIG. 14 is a sectional view of a second embodiment of the detection mount in the direction of arrows A-A inFIG. 5 of the breakaway tooling apparatus of the present invention; and -
FIG. 15 is a sectional view of a third embodiment of the detection mount in the direction of arrows A-A inFIG. 5 of the breakaway tooling apparatus of the present invention. - Referring to the drawings, the present invention will now be described in detail with reference to the disclosed embodiment.
- The present invention provides a
breakaway tooling apparatus 10 for allowing and indicating the fracturing of adetection mount 12 upon an unexpected force being applied to thedetection mount 12, wherein the force is created by thebreakaway tooling apparatus 10 unexpectedly engaging an obstacle (not shown). As seen inFIG. 1 , thebreakaway tooling apparatus 10 may be mounted to amaster boom rod 14 of a manipulator (not shown), such as a conventional robotic system or robotic arm. Amounting plate 16 may be connected to themaster boom rod 14 through the use of conventional fasteners (not shown) to assist in securing thebreakaway tooling apparatus 10 to themaster boom rod 14, and/or themounting plate 16 may be used to connect themaster boom rod 14 to the manipulator through the use of conventional fasteners (not shown). Abracket 18 may also be utilized to connect thebreakaway tooling apparatus 10 to themaster boom rod 14 through the use of conventional fasteners (not shown). The manipulator may move themaster boom rod 14 and thebreakaway tooling apparatus 10 to engage a workpiece (not shown). - The
breakaway tooling apparatus 10 has at least onedetection mount 12 that is mounted to thebracket 18; however, inFIG. 1 , twosimilar detection mounts 12 are shown connected to thebracket 18. Each of thedetection mounts 12 have amodular tooling assembly 20 connected thereto. Themodular tooling assemblies 20 may provide alock ring 22 for connecting aboom rod 24 to thedetection mount 12 and atooling mount 26 connected to theboom rod 24 for locating and securing a conventional tool (not shown) to thetooling mount 26. The tool may comprise a clamp, a gripper, a locator, a weld gun, a vacuum cup, etc. Anair pressure system 27 is mounted to amounting plate 29 which is connected to thebracket 18 through the use ofconventional fasteners 31. Air lines orhoses 30 extend from theair pressure system 27 to each of thedetection mounts 12. When thebreakaway tooling apparatus 10 is operational, and thedetection mount 12 is not fractured, theair pressure system 27 may provide an indication that thedetection mount 12 is intact. When the detection mount 12 fractures due to the manipulator moving themodular tooling 20 and having themodular tooling 20 unexpectedly engage an obstacle with a force exceeding a predetermined level, theair pressure system 27 may provide an indication that thedetection mount 12 is fractured. In addition, when thedetection mount 12 fractures, theair pressure system 27 sends a signal to a control apparatus (not shown) of the manipulator to shut off and stop the manipulator from any further movement. - In order to connect the
detection mount 12 to thebracket 18 and themodular tooling 20, thedetection mount 12 provides a substantially square mountingregion 32 integrally connected to a substantially cylindrical boomrod mounting region 34, as seen inFIGS. 1-6 . The substantially square mountingregion 32 providesapertures 36 in each of the corners of the substantially square mountingregion 32 that correspondingly align with apertures in thebracket 18. Each of theapertures 36 in the substantially square mountingregion 32 receives aconventional fastener 38 that extends into each aperture in thebracket 18 for connecting thedetection mount 12 thereto. The cylindrical mountingregion 34 of thedetection mount 12 also provides four threadedapertures 40 for receivingconventional fasteners 42 that connect thelock ring 22 to thedetection mount 12. A steppedthroughbore 44 extends through the substantially square mountingregion 32 and the substantially cylindrical mountingregion 34 of thedetection mount 12 along alongitudinal axis 46 of thedetection mount 12. The stepped throughbore 44 has afirst diameter 48, which extends through the substantially square mountingregion 32 of thedetection mount 12, and asecond diameter 50, which is larger than thefirst diameter 48 and extends through the substantially cylindrical mountingregion 34 of thedetection mount 12. Ashoulder 52 is formed within the stepped throughbore 44 at the point in which thefirst diameter 48 and thesecond diameter 50 meet. Theshoulder 52 is substantially perpendicular to thelongitudinal axis 46 of thedetection mount 12. - To provide a predetermined breakaway point or weakened portion in the
detection mount 12, a narrowingneck region 54 is provided in thedetection mount 12 in the area in which the substantially square mountingregion 32 and the substantially cylindrical mountingregion 34 of thedetection mount 12 meet. The narrowingneck region 54 corresponds in alignment with theshoulder 52 of the stepped throughbore 44 of thedetection mount 12. This corresponding alignment of the narrowingneck region 54 and theshoulder 52 creates a thinning of material in thedetection mount 12 extending between the deepest point of the narrowingneck region 54 and theshoulder 52. This narrowing or thinning portion of material in thedetection mount 12 provides a weakened area of thedetection mount 12 such that thedetection mount 12 will break or yield upon realizing a sufficient amount of force at or above a predetermined level in a direction that is substantially perpendicular to thelongitudinal axis 46 of thedetection mount 12. The narrowingneck region 54 of thedetection mount 12 increases the likelihood that thedetection mount 12 will fracture prior to any damage to themodular tooling 12 or the manipulator. In order to assure that the fracturing of thedetection mount 12 occurs at the narrowingneck region 54, thedetection mount 12 is fabricated from a predetermined material having a predetermined strength. Thedetection mount 12 may be fabricated from a lightweight, high-strength material, such as aluminum. - In order to determine whether the
detection mount 12 has fractured, anair passageway 56 extends from an outer surface of the substantially square mountingregion 32 of thedetection mount 12 to theinternal shoulder 52 of thedetection mount 12. An air hose fitting 58 is connected to the inlet of theair passageway 56 in the outer surface of the substantially square mountingregion 32 of thedetection mount 12. The air hose fitting 58 allows for the connection of theair hose 30, as will be discussed in detail later in the specification. An inlet of theair passageway 56 leads into theinternal shoulder 52 of thedetection mount 12, and arecess 62 is provided in the inlet for receiving a flexible O-ring 64. A blockingmember 66 is seated on theshoulder 52 of thedetection mount 12, and in this embodiment, the blockingmember 66 is fabricated from a ring having a substantiallyflat surface 67 abutting theshoulder 52 so that the blockingmember 66 forms a seal with the O-ring 64, as seen inFIGS. 3-5 and 7-9. Theflat surface 67 of the blockingmember 66 has a chamferededge 69 to complementarily engage the transition between theshoulder 52 and thesecond diameter 50 of thedetection mount 12. The blockingmember 66 has an outside diameter that is substantially the same size as thesecond diameter 50 of thethroughbore 44 of thedetection mount 12 and an inner diameter that is substantially the same size as thefirst diameter 48 of thethroughbore 44 of thedetection mount 12. The blockingmember 66 may be press fit in thesecond diameter 50 of thethroughbore 44 of thedetection mount 12 to properly seat the blockingmember 66 in thedetection mount 12. The blockingmember 66 may be fabricated from a high strength, light weight material, such as a metal or plastic. - The
boom rod 24 is positioned in thesecond diameter 50 of thedetection mount 12 through the use of thelock ring 22. As seen inFIG. 1 , afastener 73 extends substantially perpendicular to thelongitudinal axis 46 of thedetection mount 12 through apertures in thelock ring 22 and a corresponding aperture (not shown) in theboom rod 24 to secure theboom rod 24 in thedetection mount 12. As previously described, thelock ring 22 is connected to thedetection mount 12. - In order to provide and regulate pressurized air to the
air passageway 56 in thedetection mount 12, theair pressure system 27 of thebreakaway tooling apparatus 10 provides anair pressure regulator 68 connected to anair manifold block 74 which is mounted to the mountingplate 29, as seen inFIGS. 1 , 10, and 12-13. Thepressure regulator 68 provides anair inlet 70 for receiving a supply of pressurized air, and thepressure regulator 68 regulates the supply of pressurized air to a plurality of air outlets havingair hose fittings 72 mounted therein in theair manifold block 74. Thepressure regulator 68 ensures that the air being provided to theair hose fittings 72 in theair manifold block 74 is maintained at a predetermined pressure level. For purposes of the present invention, thepressure regulator 68 provides relatively low air pressure to theair manifold block 74 and consequently to theair passageway 56 in thedetection mount 12. Theair hoses 30 are connected from theair hose fittings 72 in theair manifold block 74 to theair hose fittings 58 provided on the detection mounts 12 of thebreakaway tooling apparatus 10. - In order to determine and indicate whether the
detection mount 12 of thebreakaway tooling apparatus 10 has fractured, a pressure indicator or switch 28 is connected to theair manifold block 74 for monitoring the air pressure within theair manifold block 74. Thepressure indicator 28 may provide a green indicator light 76 that illuminates to indicate that the system has power and is operational. Thepressure indicator 28 may also provide a red indicator light 78 to indicate that the pressure within theair manifold block 74 is at or above a predetermined pressure. If the pressure within theair manifold block 74 falls below a predetermined pressure level, then the red indicator light 78 is not illuminated. When the red indicator light 78 is not illuminated, then an electronic signal is provided from thepressure indicator 28 to a control apparatus (not shown), such as a programmable controller, of the manipulator indicating to the control apparatus that thedetection mount 12 is fractured. In an alternative embodiment, the green indicator light 76 and the red indicator light 78 are not provided, and thus, the signal from the pressure indicator or switch 28 is provided directly to the control apparatus. Anelectric cable 81 may be connected from thepressure indicator 28 to the control apparatus for communicating the electronic signal. When the signal is sent to the control apparatus indicating that thedetection mount 12 is fractured, the control apparatus immediately shuts down the manipulator and prevents the manipulator from continually operating with a fractureddetection mount 12. -
FIG. 11 shows a circuit diagram 80 for theair pressure system 27 of thebreakaway tooling apparatus 10. The circuit diagram 80 shows the flow of pressurized air from the supply of pressurized air into thepressure regulator 68 wherein thepressure regulator 68 monitors the flow of pressurized air through arestriction orifice 82. The regulated air then flows into theair manifold block 74, wherein the air is supplied to a plurality of outlets orair hose fittings 72. When the pressure to theoutlets 72 is maintained above a predetermined pressure level, the pressure indicator or switch 28 is maintained in an on position. If any of theoutlets 72 are not maintained at a predetermined pressure level, then an electronic signal is sent to the control apparatus, thereby indicating that thedetection mount 12 of thebreakaway tooling apparatus 10 is fractured. When this occurs, the control apparatus immediately shuts down the manipulator. - In a second embodiment, the
detection mount 12 may have the same configuration as previously described. However, the embodiment shown inFIG. 14 does not provide the ring as the blockingmember 66. Rather, the end of theboom rod 24 acts as the blockingmember 66 by sealing against the flexible O-ring 64. Thus, pressurized air in theair passageway 56 is blocked from passing through theair passageway 56 by the end of theboom rod 24 until thedetection mount 12 fractures at the narrowedneck region 54. Once thedetection mount 12 fractures at theneck region 54, the seal between the O-ring 64 and the end of theboom rod 24 is broken, and the pressurized air is allowed to pass through theair passageway 56, thereby triggering the pressure indicator orswitch 28. The control apparatus then shuts down the manipulator. - In a third embodiment, the
detection mount 12 is similar to the first embodiment; however, thedetection mount 12 of the third embodiment, as seen inFIG. 5 , provides anair passageway 90 that does not extend through thedetection mount 12. Rather, theair passageway 90 provides ablind hole 92 that ends within or adjacent to theneck region 54 of thedetection mount 12. Thus, theneck region 54 acts as the blockingmember 66 to theair passageway 90 by blocking thehole 92. When thedetection mount 12 fractures at theneck region 54, theblind hole 92 of theair passageway 56 is exposed or opened, thereby allowing pressurized air to flow through theair passageway 90 and allowing the pressure indicator or switch 28 to be triggered. The control apparatus then shuts down the manipulator. - In operation, the
breakaway tooling apparatus 10 is mounted to themaster boom rod 14 of the manipulator. Themodular tooling 20 is appropriately mounted to thebreakaway tooling apparatus 10 by having theboom rod 24 connected to thelock ring 22 which in turn is connected to thedetection mount 12. Depending on the embodiment, theair passageway member 66. Theair hose 30 is connected to an air hose fitting 72 of theair manifold block 74, and the opposite end of theair hose 30 is connected to the air hose fitting 58 on thedetection mount 12. A supply of pressurized air is provided to thepressure regulator 68, and pressurized air is supplied to theair hose fittings 72 on theair manifold block 74. Pressurized air is then provided to theair passageway detection mount 12, and a predetermined level of pressure is maintained in theair passageway member 66 prevents pressurized air from exiting theair passageway - If the
detection mount 12 of thebreakaway tooling apparatus 10 receives a sufficient amount of force at an angle substantially perpendicular to thelongitudinal axis 46 of thedetection mount 12, thedetection mount 12 will fracture at the narrowingneck region 54 between the substantially square mountingregion 32 and the substantially cylindrical mountingregion 34 of thedetection mount 12. When this occurs, the substantially cylindrical mountingregion 34 of thedetection mount 12 and themodular tooling 20 connected to the substantially cylindrical mountingregion 34 of thedetection mount 12 will fall away from the substantially square mountingregion 32 of thedetection mount 12. Although not shown, a safety strap may be incorporated connecting the substantially square mountingregion 32 to the substantially cylindrical mountingregion 34 on thedetection mount 12 to ensure that themodular tooling 20 does not cause further damage when thedetection mount 12 fractures. Once the substantially cylindrical mountingregion 34 of thedetection mount 12 and themodular tooling 20 break away from the substantially square mountingregion 32 of thedetection mount 12, the blockingmember 66 can no longer prohibit pressurized air from passing through theair passageway 56. The level of pressurized air in theair manifold block 74 is then reduced below the predetermined level, and thepressure indicator 28 senses the drop in the level of pressure. Once the pressure drops below the predetermined level, a signal is sent from thepressure indicator 28 to the control apparatus to stop and shut down the manipulator. The fractureddetection mount 12 may then be replaced with a new,non-fractured detection mount 12, and themodular tooling 28 may be reassembled to thedetection mount 12. Thehoses 30 are reconfigured to thenew detection mount 12, and pressurized air is again supplied to thenew detection mount 12. Thebreakaway tooling apparatus 10 is then ready to be used again by the manipulator. - While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiments, but to the contrary, it is intended to cover various modifications or equivalent arrangements included within the spirit and scope of the appended claims. The scope is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures as is permitted under the law.
Claims (21)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/620,706 US8443653B2 (en) | 2008-12-16 | 2009-11-18 | Breakaway tooling apparatus |
PCT/US2009/068248 WO2010096137A1 (en) | 2008-12-16 | 2009-12-16 | Breakaway tooling apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12294408P | 2008-12-16 | 2008-12-16 | |
US12/620,706 US8443653B2 (en) | 2008-12-16 | 2009-11-18 | Breakaway tooling apparatus |
Publications (2)
Publication Number | Publication Date |
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US20100147053A1 true US20100147053A1 (en) | 2010-06-17 |
US8443653B2 US8443653B2 (en) | 2013-05-21 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US12/620,706 Expired - Fee Related US8443653B2 (en) | 2008-12-16 | 2009-11-18 | Breakaway tooling apparatus |
Country Status (2)
Country | Link |
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US (1) | US8443653B2 (en) |
WO (1) | WO2010096137A1 (en) |
Families Citing this family (1)
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US10613020B2 (en) * | 2017-08-10 | 2020-04-07 | The Boeing Company | Burr detection systems and methods |
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US4500065A (en) * | 1982-03-01 | 1985-02-19 | Cincinnati Milacron Inc. | Releasable tool mount for manipulator |
US4643632A (en) * | 1984-04-13 | 1987-02-17 | Eke Robotersysteme Gmbh | Overload safety device |
US4995493A (en) * | 1990-03-02 | 1991-02-26 | General Motors Corporation | Robot tool changer and overload device |
US5002173A (en) * | 1989-03-09 | 1991-03-26 | Auto/Con Corporation | Breakaway clutch device |
US5086901A (en) * | 1991-02-14 | 1992-02-11 | Applied Robotics, Inc. | Robot overload detection device |
US5964124A (en) * | 1996-07-12 | 1999-10-12 | Nunes; Fernando Manuel Rodrigues | Overload protector for robotic tooling |
US6214057B1 (en) * | 1999-05-07 | 2001-04-10 | Process Equipment Co. Of Tipp City | Overload protection device for robotic tooling |
US6690208B2 (en) * | 2002-02-23 | 2004-02-10 | Ati Industrial Automation, Inc. | Robot crash protector |
US20080226427A1 (en) * | 2005-07-06 | 2008-09-18 | Norgren Automotive, Inc. | Apparatus for accurately positioning and supporting modular tooling |
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---|---|---|---|---|
GB2127775B (en) | 1982-09-27 | 1985-10-16 | Gen Electric Co Plc | Controlled machine limb incorporating a safety coupling |
DE3310069A1 (en) | 1983-03-21 | 1984-10-04 | Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth | Monitoring device for a robot arm with gripper |
DE3701651A1 (en) | 1987-01-21 | 1988-08-04 | Siemens Ag | Safety device for industrial robots |
-
2009
- 2009-11-18 US US12/620,706 patent/US8443653B2/en not_active Expired - Fee Related
- 2009-12-16 WO PCT/US2009/068248 patent/WO2010096137A1/en active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4500065A (en) * | 1982-03-01 | 1985-02-19 | Cincinnati Milacron Inc. | Releasable tool mount for manipulator |
US4643632A (en) * | 1984-04-13 | 1987-02-17 | Eke Robotersysteme Gmbh | Overload safety device |
US5002173A (en) * | 1989-03-09 | 1991-03-26 | Auto/Con Corporation | Breakaway clutch device |
US4995493A (en) * | 1990-03-02 | 1991-02-26 | General Motors Corporation | Robot tool changer and overload device |
US5086901A (en) * | 1991-02-14 | 1992-02-11 | Applied Robotics, Inc. | Robot overload detection device |
US5964124A (en) * | 1996-07-12 | 1999-10-12 | Nunes; Fernando Manuel Rodrigues | Overload protector for robotic tooling |
US6214057B1 (en) * | 1999-05-07 | 2001-04-10 | Process Equipment Co. Of Tipp City | Overload protection device for robotic tooling |
US6690208B2 (en) * | 2002-02-23 | 2004-02-10 | Ati Industrial Automation, Inc. | Robot crash protector |
US20080226427A1 (en) * | 2005-07-06 | 2008-09-18 | Norgren Automotive, Inc. | Apparatus for accurately positioning and supporting modular tooling |
Also Published As
Publication number | Publication date |
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US8443653B2 (en) | 2013-05-21 |
WO2010096137A1 (en) | 2010-08-26 |
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